Change plots to interactive plots

book_format.py

@@ -77,14 +77,14 @@ def equal_axis():
 
 
 def reset_axis():
-    pylab.rcParams['figure.figsize'] = 11, 3
+    pylab.rcParams['figure.figsize'] = 9, 3
 
-def set_figsize(x=11, y=4):
+def set_figsize(x=9, y=4):
     pylab.rcParams['figure.figsize'] = x, y
 
 
 @contextmanager
-def figsize(x=11, y=4):
+def figsize(x=9, y=4):
     """Temporarily set the figure size using 'with figsize(a,b):'"""
 
     size = pylab.rcParams['figure.figsize']
@@ -150,10 +150,11 @@ def load_style(directory = '.', name='code/custom.css'):
             style["axes.prop_cycle"] = "cycler('color', ['#6d904f','#013afe', '#202020','#fc4f30','#e5ae38','#A60628','#30a2da','#008080','#7A68A6','#CF4457','#188487','#E24A33'])"
             style.pop("axes.color_cycle", None)
         plt.rcParams.update(style)
-
+    set_figsize()
     reset_axis ()
     np.set_printoptions(suppress=True,precision=3, linewidth=70,
                         formatter={'float':lambda x:' {:.3}'.format(x)})
 
     styles = open(os.path.join(directory, name), 'r').read()
+    set_figsize()
     return HTML(styles)

code/book_plots.py

@@ -339,8 +339,11 @@ def show_residual_chart(show_eq=True, show_H=False):
     plt.xlabel('time')
     ax.yaxis.set_label_position("right")
     plt.ylabel('state')
-    plt.xlim(-0.5, 1.5)
-    plt.savefig('../figs/residual_chart.png', pad_inches=0.1)
+    plt.xlim(-0.1, 1.5)
+    if show_H:
+        plt.savefig('../figs/residual_chart_with_h.png', pad_inches=0.1)
+    else:
+        plt.savefig('../figs/residual_chart.png', pad_inches=0.1)
 
 
 
@@ -589,6 +592,7 @@ if __name__ == "__main__":
     plot_estimate_chart_3()
     create_predict_update_chart()
     show_residual_chart()
+    show_residual_chart(True, True)
     plt.close('all')
 
     '''p = [0.2245871, 0.06288015, 0.06109133, 0.0581008, 0.09334062, 0.2245871,

code/mkf_internal.py

@@ -417,51 +417,53 @@ def plot_correlation_covariance():
     plt.title('|4.0 3.9|\n|3.9 4.0|')
     plt.show()
 
+from book_plots import interactive_plot
 
 def plot_track(ps, actual, zs, cov, std_scale=1,
                plot_P=True, y_lim=None, dt=1.,
                xlabel='time', ylabel='position',
                title='Kalman Filter'):
 
-    count = len(zs)
-    zs = np.asarray(zs)
+    with interactive_plot():
+        count = len(zs)
+        zs = np.asarray(zs)
 
-    cov = np.asarray(cov)
-    std = std_scale*np.sqrt(cov[:,0,0])
-    std_top = np.minimum(actual+std, [count + 10])
-    std_btm = np.maximum(actual-std, [-50])
+        cov = np.asarray(cov)
+        std = std_scale*np.sqrt(cov[:,0,0])
+        std_top = np.minimum(actual+std, [count + 10])
+        std_btm = np.maximum(actual-std, [-50])
 
-    std_top = actual + std
-    std_btm = actual - std
+        std_top = actual + std
+        std_btm = actual - std
 
-    bp.plot_track(actual,c='k')
-    bp.plot_measurements(range(1, count + 1), zs)
-    bp.plot_filter(range(1, count + 1), ps)
+        bp.plot_track(actual,c='k')
+        bp.plot_measurements(range(1, count + 1), zs)
+        bp.plot_filter(range(1, count + 1), ps)
 
-    plt.plot(std_top, linestyle=':', color='k', lw=1, alpha=0.4)
-    plt.plot(std_btm, linestyle=':', color='k', lw=1, alpha=0.4)
-    plt.fill_between(range(len(std_top)), std_top, std_btm,
-                     facecolor='yellow', alpha=0.2, interpolate=True)
-    plt.legend(loc=4)
-    plt.xlabel(xlabel)
-    plt.ylabel(ylabel)
-    if y_lim is not None:
-        plt.ylim(y_lim)
-    else:
-        plt.ylim((-50, count + 10))
+        plt.plot(std_top, linestyle=':', color='k', lw=1, alpha=0.4)
+        plt.plot(std_btm, linestyle=':', color='k', lw=1, alpha=0.4)
+        plt.fill_between(range(len(std_top)), std_top, std_btm,
+                         facecolor='yellow', alpha=0.2, interpolate=True)
+        plt.legend(loc=4)
+        plt.xlabel(xlabel)
+        plt.ylabel(ylabel)
+        if y_lim is not None:
+            plt.ylim(y_lim)
+        else:
+            plt.ylim((-50, count + 10))
 
-    plt.xlim((0,count))
-    plt.title(title)
-    plt.show()
+        plt.xlim((0,count))
+        plt.title(title)
 
     if plot_P:
-        ax = plt.subplot(121)
-        ax.set_title("$\sigma^2_x$ (pos variance)")
-        plot_covariance(cov, (0, 0))
-        ax = plt.subplot(122)
-        ax.set_title("$\sigma^2_\dot{x}$ (vel variance)")
-        plot_covariance(cov, (1, 1))
-        plt.show()
+        with interactive_plot():
+            ax = plt.subplot(121)
+            ax.set_title("$\sigma^2_x$ (pos variance)")
+            plot_covariance(cov, (0, 0))
+            ax = plt.subplot(122)
+            ax.set_title("$\sigma^2_\dot{x}$ (vel variance)")
+            plot_covariance(cov, (1, 1))
+
 
 def plot_covariance(P, index=(0, 0)):
     ps = []